Device designed to compensate for non-linearity of machine shafts

A method for the numerical control of machines with at least one axis comprising the steps of:

• compensating for non-linearities due to disturbances with a frictional precontrol that corrects a rotation speed reference value of each axis, the correction of the rotation speed reference values including the substeps of:
• injecting a correction pulse into the corresponding rotation speed reference value of each axis when the corresponding axis passes from one quadrant to another with the corresponding change of signs at this axis, the correction pulse being injected during the passage through zero of the rotation speed reference value, wherein:
• the correction pulse has an acceleration-dependent amplitude, and
• the amplitude and duration of the correction pulse are determined in advance as characteristic curves or characteristic curve fields for different acceleration values for the particular machine used through a self-learning knowledge-based system in a learning phase, wherein a deviation from a desired actual rotation speed and an actual rotation speed in the form of an error area appearing in a rotation speed curve after passage through zero is used as a learning criterion for the learning phase;
• wherein the frictional precontrol is incorporated in an axis control as an additional precontrol branch.

A device for numerical control of machines with at least one axis, the device comprising:

• a frictional precontrol integrated in an axis control as an additional precontrol branch;
• a first differentiator for differentiating position reference values, thereby obtaining a rotation speed reference value;
• a second differentiator for differentiating the rotation speed reference value, thereby obtaining a reference acceleration;
• an injection logic which receives the rotation speed reference value and controls an injection time of a rotation speed correction value when the rotation speed reference value nsoll passes through zero, the correction value having an amplitude;
• a storage device containing an acceleration-dependent characteristic curve of the amplitude, which storage device is triggered by the reference acceleration obtained, wherein the characteristic curve of the amplitude increases starting from a zero acceleration, runs at a high level in the area of medium accelerations, and assumes smaller values when the acceleration further increases;
• and
• a correction pulse generator which receives the amplitude obtained using the characteristic curve and which generates the rotation speed correction value and adds it to a position control signal of the axis control.

A device for numerical control of machines with at least one axis, the device comprising:

• a frictional precontrol integrated in an axis control as an additional precontrol branch;
• a first differentiator for differentiating position reference values, thereby obtaining a rotation speed reference value;
• a second differentiator for differentiating the rotation speed reference value, thereby obtaining a reference acceleration;
• a neural network with an input for receiving the rotation speed reference values and acceleration reference values;
• a logical switch which generates an error value from a difference of the rotation speed reference value and an actual rotation speed, the error value being supplied to the neural network;
• an injection logic which is supplied with an amplitude value and a time constant by the neural network, the injection logic controlling an injection time of a rotation speed correction value;
• and
• a correction pulse generator which is controlled by the injection logic to generate the rotation speed correction value and to add it to a position control signal of the axis control.